It is difficult to eliminate hesitation of speaking in English language. You need to know that it is also addicted with person you speak. It is also addicted from subject you speak. If someone ask you what do you think about dogs or cats? I believe in you don't know what to answer. If you want to say something for example: I am bored or it is difficult for me you can see that it wasn't so difficult because you know what would you like to say. Try to imagine you have to speak on topic you don't understand and you try to speak grammatically correct. Impossible!
If you want to learn some rules and ideas how to cope with it, you should whisper to me and I try to help you.